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# coding: utf-8
"""
Ctypes wrapper module for Vector CAN Interface on win32/win64 systems.
Authors: Julien Grave <grave.jul@gmail.com>, Christian Sandberg
"""
# Import Standard Python Modules
# ==============================
import ctypes
import logging
import platform
from .exceptions import VectorError
# Define Module Logger
# ====================
LOG = logging.getLogger(__name__)
# Vector XL API Definitions
# =========================
# Load Windows DLL
DLL_NAME = 'vxlapi64' if platform.architecture()[0] == '64bit' else 'vxlapi'
_xlapi_dll = ctypes.windll.LoadLibrary(DLL_NAME)
XL_BUS_TYPE_CAN = 0x00000001
XL_ERR_QUEUE_IS_EMPTY = 10
XL_ERR_HW_NOT_PRESENT = 129
XL_RECEIVE_MSG = 1
XL_CAN_EV_TAG_RX_OK = 1024
XL_CAN_EV_TAG_TX_OK = 1028
XL_TRANSMIT_MSG = 10
XL_CAN_EV_TAG_TX_MSG = 1088
XL_CAN_EXT_MSG_ID = 0x80000000
XL_CAN_MSG_FLAG_ERROR_FRAME = 0x01
XL_CAN_MSG_FLAG_REMOTE_FRAME = 0x10
XL_CAN_MSG_FLAG_TX_COMPLETED = 0x40
XL_CAN_TXMSG_FLAG_EDL = 0x0001
XL_CAN_TXMSG_FLAG_BRS = 0x0002
XL_CAN_TXMSG_FLAG_RTR = 0x0010
XL_CAN_RXMSG_FLAG_EDL = 0x0001
XL_CAN_RXMSG_FLAG_BRS = 0x0002
XL_CAN_RXMSG_FLAG_ESI = 0x0004
XL_CAN_RXMSG_FLAG_RTR = 0x0010
XL_CAN_RXMSG_FLAG_EF = 0x0200
XL_CAN_STD = 1
XL_CAN_EXT = 2
XLuint64 = ctypes.c_int64
XLaccess = XLuint64
XLhandle = ctypes.c_void_p
MAX_MSG_LEN = 8
XL_CAN_MAX_DATA_LEN = 64
# current version
XL_INTERFACE_VERSION = 3
XL_INTERFACE_VERSION_V4 = 4
XL_CHANNEL_FLAG_CANFD_ISO_SUPPORT = 0x80000000
# structure for XL_RECEIVE_MSG, XL_TRANSMIT_MSG
class s_xl_can_msg(ctypes.Structure):
_fields_ = [('id', ctypes.c_ulong), ('flags', ctypes.c_ushort),
('dlc', ctypes.c_ushort), ('res1', XLuint64),
('data', ctypes.c_ubyte * MAX_MSG_LEN), ('res2', XLuint64)]
class s_xl_can_ev_error(ctypes.Structure):
_fields_ = [('errorCode', ctypes.c_ubyte), ('reserved', ctypes.c_ubyte * 95)]
class s_xl_can_ev_chip_state(ctypes.Structure):
_fields_ = [('busStatus', ctypes.c_ubyte), ('txErrorCounter', ctypes.c_ubyte),
('rxErrorCounter', ctypes.c_ubyte),('reserved', ctypes.c_ubyte),
('reserved0', ctypes.c_uint)]
class s_xl_can_ev_sync_pulse(ctypes.Structure):
_fields_ = [('triggerSource', ctypes.c_uint), ('reserved', ctypes.c_uint),
('time', XLuint64)]
# BASIC bus message structure
class s_xl_tag_data(ctypes.Union):
_fields_ = [('msg', s_xl_can_msg)]
# CAN FD messages
class s_xl_can_ev_rx_msg(ctypes.Structure):
_fields_ = [('canId', ctypes.c_uint), ('msgFlags', ctypes.c_uint),
('crc', ctypes.c_uint), ('reserved1', ctypes.c_ubyte * 12),
('totalBitCnt', ctypes.c_ushort), ('dlc', ctypes.c_ubyte),
('reserved', ctypes.c_ubyte * 5), ('data', ctypes.c_ubyte * XL_CAN_MAX_DATA_LEN)]
class s_xl_can_ev_tx_request(ctypes.Structure):
_fields_ = [('canId', ctypes.c_uint), ('msgFlags', ctypes.c_uint),
('dlc', ctypes.c_ubyte),('txAttemptConf', ctypes.c_ubyte),
('reserved', ctypes.c_ushort), ('data', ctypes.c_ubyte * XL_CAN_MAX_DATA_LEN)]
class s_xl_can_tx_msg(ctypes.Structure):
_fields_ = [('canId', ctypes.c_uint), ('msgFlags', ctypes.c_uint),
('dlc', ctypes.c_ubyte), ('reserved', ctypes.c_ubyte * 7),
('data', ctypes.c_ubyte * XL_CAN_MAX_DATA_LEN)]
class s_rxTagData(ctypes.Union):
_fields_ = [('canRxOkMsg', s_xl_can_ev_rx_msg), ('canTxOkMsg', s_xl_can_ev_rx_msg),
('canTxRequest', s_xl_can_ev_tx_request),('canError', s_xl_can_ev_error),
('canChipState', s_xl_can_ev_chip_state),('canSyncPulse', s_xl_can_ev_sync_pulse)]
class s_txTagData(ctypes.Union):
_fields_ = [('canMsg', s_xl_can_tx_msg)]
# BASIC events
XLeventTag = ctypes.c_ubyte
class XLevent(ctypes.Structure):
_fields_ = [('tag', XLeventTag), ('chanIndex', ctypes.c_ubyte),
('transId', ctypes.c_ushort), ('portHandle', ctypes.c_ushort),
('flags', ctypes.c_ubyte), ('reserved', ctypes.c_ubyte),
('timeStamp', XLuint64), ('tagData', s_xl_tag_data)]
# CAN FD events
class XLcanRxEvent(ctypes.Structure):
_fields_ = [('size',ctypes.c_int),('tag', ctypes.c_ushort),
('chanIndex', ctypes.c_ubyte),('reserved', ctypes.c_ubyte),
('userHandle', ctypes.c_int),('flagsChip', ctypes.c_ushort),
('reserved0', ctypes.c_ushort),('reserved1', XLuint64),
('timeStamp', XLuint64),('tagData', s_rxTagData)]
class XLcanTxEvent(ctypes.Structure):
_fields_ = [('tag', ctypes.c_ushort), ('transId', ctypes.c_ushort),
('chanIndex', ctypes.c_ubyte), ('reserved', ctypes.c_ubyte * 3),
('tagData', s_txTagData)]
# CAN FD configuration structure
class XLcanFdConf(ctypes.Structure):
_fields_ = [('arbitrationBitRate', ctypes.c_uint), ('sjwAbr', ctypes.c_uint),
('tseg1Abr', ctypes.c_uint), ('tseg2Abr', ctypes.c_uint),
('dataBitRate', ctypes.c_uint), ('sjwDbr', ctypes.c_uint),
('tseg1Dbr', ctypes.c_uint), ('tseg2Dbr', ctypes.c_uint),
('reserved', ctypes.c_uint * 2)]
class XLchannelConfig(ctypes.Structure):
_pack_ = 1
_fields_ = [
('name', ctypes.c_char * 32),
('hwType', ctypes.c_ubyte),
('hwIndex', ctypes.c_ubyte),
('hwChannel', ctypes.c_ubyte),
('transceiverType', ctypes.c_ushort),
('transceiverState', ctypes.c_ushort),
('configError', ctypes.c_ushort),
('channelIndex', ctypes.c_ubyte),
('channelMask', XLuint64),
('channelCapabilities', ctypes.c_uint),
('channelBusCapabilities', ctypes.c_uint),
('isOnBus', ctypes.c_ubyte),
('connectedBusType', ctypes.c_uint),
('busParams', ctypes.c_ubyte * 32),
('_doNotUse', ctypes.c_uint),
('driverVersion', ctypes.c_uint),
('interfaceVersion', ctypes.c_uint),
('raw_data', ctypes.c_uint * 10),
('serialNumber', ctypes.c_uint),
('articleNumber', ctypes.c_uint),
('transceiverName', ctypes.c_char * 32),
('specialCabFlags', ctypes.c_uint),
('dominantTimeout', ctypes.c_uint),
('dominantRecessiveDelay', ctypes.c_ubyte),
('recessiveDominantDelay', ctypes.c_ubyte),
('connectionInfo', ctypes.c_ubyte),
('currentlyAvailableTimestamps', ctypes.c_ubyte),
('minimalSupplyVoltage', ctypes.c_ushort),
('maximalSupplyVoltage', ctypes.c_ushort),
('maximalBaudrate', ctypes.c_uint),
('fpgaCoreCapabilities', ctypes.c_ubyte),
('specialDeviceStatus', ctypes.c_ubyte),
('channelBusActiveCapabilities', ctypes.c_ushort),
('breakOffset', ctypes.c_ushort),
('delimiterOffset', ctypes.c_ushort),
('reserved', ctypes.c_uint * 3)
]
class XLdriverConfig(ctypes.Structure):
_fields_ = [
('dllVersion', ctypes.c_uint),
('channelCount', ctypes.c_uint),
('reserved', ctypes.c_uint * 10),
('channel', XLchannelConfig * 64)
]
# driver status
XLstatus = ctypes.c_short
# porthandle
XL_INVALID_PORTHANDLE = (-1)
XLportHandle = ctypes.c_long
def check_status(result, function, arguments):
if result > 0:
raise VectorError(result, xlGetErrorString(result).decode(), function.__name__)
return result
xlGetDriverConfig = _xlapi_dll.xlGetDriverConfig
xlGetDriverConfig.argtypes = [ctypes.POINTER(XLdriverConfig)]
xlGetDriverConfig.restype = XLstatus
xlGetDriverConfig.errcheck = check_status
xlOpenDriver = _xlapi_dll.xlOpenDriver
xlOpenDriver.argtypes = []
xlOpenDriver.restype = XLstatus
xlOpenDriver.errcheck = check_status
xlCloseDriver = _xlapi_dll.xlCloseDriver
xlCloseDriver.argtypes = []
xlCloseDriver.restype = XLstatus
xlCloseDriver.errcheck = check_status
xlGetApplConfig = _xlapi_dll.xlGetApplConfig
xlGetApplConfig.argtypes = [
ctypes.c_char_p, ctypes.c_uint, ctypes.POINTER(ctypes.c_uint),
ctypes.POINTER(ctypes.c_uint), ctypes.POINTER(ctypes.c_uint), ctypes.c_uint
]
xlGetApplConfig.restype = XLstatus
xlGetApplConfig.errcheck = check_status
xlGetChannelIndex = _xlapi_dll.xlGetChannelIndex
xlGetChannelIndex.argtypes = [ctypes.c_int, ctypes.c_int, ctypes.c_int]
xlGetChannelIndex.restype = ctypes.c_int
xlGetChannelMask = _xlapi_dll.xlGetChannelMask
xlGetChannelMask.argtypes = [ctypes.c_int, ctypes.c_int, ctypes.c_int]
xlGetChannelMask.restype = XLaccess
xlOpenPort = _xlapi_dll.xlOpenPort
xlOpenPort.argtypes = [
ctypes.POINTER(XLportHandle), ctypes.c_char_p, XLaccess,
ctypes.POINTER(XLaccess), ctypes.c_uint, ctypes.c_uint, ctypes.c_uint
]
xlOpenPort.restype = XLstatus
xlOpenPort.errcheck = check_status
xlGetSyncTime = _xlapi_dll.xlGetSyncTime
xlGetSyncTime.argtypes = [XLportHandle, ctypes.POINTER(XLuint64)]
xlGetSyncTime.restype = XLstatus
xlGetSyncTime.errcheck = check_status
xlClosePort = _xlapi_dll.xlClosePort
xlClosePort.argtypes = [XLportHandle]
xlClosePort.restype = XLstatus
xlClosePort.errcheck = check_status
xlSetNotification = _xlapi_dll.xlSetNotification
xlSetNotification.argtypes = [XLportHandle, ctypes.POINTER(XLhandle),
ctypes.c_int]
xlSetNotification.restype = XLstatus
xlSetNotification.errcheck = check_status
xlCanSetChannelMode = _xlapi_dll.xlCanSetChannelMode
xlCanSetChannelMode.argtypes = [
XLportHandle, XLaccess, ctypes.c_int, ctypes.c_int
]
xlCanSetChannelMode.restype = XLstatus
xlCanSetChannelMode.errcheck = check_status
xlActivateChannel = _xlapi_dll.xlActivateChannel
xlActivateChannel.argtypes = [
XLportHandle, XLaccess, ctypes.c_uint, ctypes.c_uint
]
xlActivateChannel.restype = XLstatus
xlActivateChannel.errcheck = check_status
xlDeactivateChannel = _xlapi_dll.xlDeactivateChannel
xlDeactivateChannel.argtypes = [XLportHandle, XLaccess]
xlDeactivateChannel.restype = XLstatus
xlDeactivateChannel.errcheck = check_status
xlCanFdSetConfiguration = _xlapi_dll.xlCanFdSetConfiguration
xlCanFdSetConfiguration.argtypes = [XLportHandle, XLaccess, ctypes.POINTER(XLcanFdConf)]
xlCanFdSetConfiguration.restype = XLstatus
xlCanFdSetConfiguration.errcheck = check_status
xlReceive = _xlapi_dll.xlReceive
xlReceive.argtypes = [
XLportHandle, ctypes.POINTER(ctypes.c_uint), ctypes.POINTER(XLevent)
]
xlReceive.restype = XLstatus
xlReceive.errcheck = check_status
xlCanReceive = _xlapi_dll.xlCanReceive
xlCanReceive.argtypes = [
XLportHandle, ctypes.POINTER(XLcanRxEvent)
]
xlCanReceive.restype = XLstatus
xlCanReceive.errcheck = check_status
xlGetErrorString = _xlapi_dll.xlGetErrorString
xlGetErrorString.argtypes = [XLstatus]
xlGetErrorString.restype = ctypes.c_char_p
xlCanSetChannelBitrate = _xlapi_dll.xlCanSetChannelBitrate
xlCanSetChannelBitrate.argtypes = [XLportHandle, XLaccess, ctypes.c_ulong]
xlCanSetChannelBitrate.restype = XLstatus
xlCanSetChannelBitrate.errcheck = check_status
xlCanTransmit = _xlapi_dll.xlCanTransmit
xlCanTransmit.argtypes = [
XLportHandle, XLaccess, ctypes.POINTER(ctypes.c_uint), ctypes.POINTER(XLevent)
]
xlCanTransmit.restype = XLstatus
xlCanTransmit.errcheck = check_status
xlCanTransmitEx = _xlapi_dll.xlCanTransmitEx
xlCanTransmitEx.argtypes = [
XLportHandle, XLaccess, ctypes.c_uint, ctypes.POINTER(ctypes.c_uint), ctypes.POINTER(XLcanTxEvent)
]
xlCanTransmitEx.restype = XLstatus
xlCanTransmitEx.errcheck = check_status
xlCanFlushTransmitQueue = _xlapi_dll.xlCanFlushTransmitQueue
xlCanFlushTransmitQueue.argtypes = [XLportHandle, XLaccess]
xlCanFlushTransmitQueue.restype = XLstatus
xlCanFlushTransmitQueue.errcheck = check_status
xlCanSetChannelAcceptance = _xlapi_dll.xlCanSetChannelAcceptance
xlCanSetChannelAcceptance.argtypes = [
XLportHandle, XLaccess, ctypes.c_ulong, ctypes.c_ulong, ctypes.c_uint]
xlCanSetChannelAcceptance.restype = XLstatus
xlCanSetChannelAcceptance.errcheck = check_status
xlCanResetAcceptance = _xlapi_dll.xlCanResetAcceptance
xlCanResetAcceptance.argtypes = [XLportHandle, XLaccess, ctypes.c_uint]
xlCanResetAcceptance.restype = XLstatus
xlCanResetAcceptance.errcheck = check_status
|
